Specific thresholds used to merge and split given geometry contacts. More...

#include <GeometryContactMergeSplitThresholds.h>

Inheritance diagram for agxSDK::GeometryContactMergeSplitThresholds:

Public Types
enum	MergeThresholds : agx::UInt { MAX_RELATIVE_NORMAL_SPEED , MAX_RELATIVE_TANGENT_SPEED , MAX_ROLLING_SPEED , NUM_MERGE_THRESHOLDS }
	Indices to the threshold values when a body should be merged. More...

enum	SplitThresholds : agx::UInt { MAX_IMPACT_SPEED = NUM_MERGE_THRESHOLDS , LOGICAL_IMPACT , MAY_SPLIT_IN_GRAVITY_FIELD , TANGENTIAL_ADHESION , NORMAL_ADHESION , NUM_THRESHOLDS }
	Indices to the threshold values when a body should be split. More...

Public Types inherited from agxSDK::MergeSplitThresholds
using	MixFunction = std::function< agx::Real(agx::Real, agx::Real)>
	Mixing two values function signature given two values and the return value is the mix.

Public Member Functions
	GeometryContactMergeSplitThresholds ()
	Default constructor, all thresholds will be set to default.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agxSDK::GeometryContactMergeSplitThresholds)

virtual agx::ICloneableRef	clone (agx::ICloneable *child=nullptr) override
	Creates and returns a clone of this object.

agx::Real	getMaxImpactSpeed (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Real	getMaxRelativeNormalSpeed (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Real	getMaxRelativeTangentSpeed (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Real	getMaxRollingSpeed (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Bool	getMaySplitInGravityField (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Real	getNormalAdhesion (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Bool	getSplitOnLogicalImpact (const GeometryContactMergeSplitThresholds *other=nullptr) const

agx::Real	getTangentialAdhesion (const GeometryContactMergeSplitThresholds *other=nullptr) const

virtual void	resetToDefault () override
	Reset all values to default.

void	setMaxImpactSpeed (agx::Real value)
	Assign maximum impact speed (along a contact normal) a merged object can resist without being split.

void	setMaxRelativeNormalSpeed (agx::Real value)
	Assign maximum speed along a contact normal for a contact to be considered resting.

void	setMaxRelativeTangentSpeed (agx::Real value)
	Assign maximum (sliding) speed along a contact tangent for a contact to be considered resting.

void	setMaxRollingSpeed (agx::Real value)
	Assign maximum (rolling) speed for a contact to be considered resting.

void	setMaySplitInGravityField (agx::Bool maySplitInGravityField)
	Check split given external forces for all objects merged (i.e., rb->getForce() the sum of rb->addForce(), including the gravity force).

void	setNormalAdhesion (agx::Real value)
	Adhesive force in the normal directions preventing the object to split (if > 0) when the object is subject to external interactions (e.g., constraints).

void	setSplitOnLogicalImpact (agx::Bool value)
	True to split when geometry contact state is agxCollide::GeometryContact::IMPACT_STATE, i.e., the first time the objects collide.

void	setTangentialAdhesion (agx::Real value)
	Adhesive force in the tangential directions preventing the object to split (if > 0) when the object is subject to external interactions (e.g., constraints).

Public Member Functions inherited from agxSDK::MergeSplitThresholds
agx::Real	get (const agx::UInt index) const

agx::Real	get (const agx::UInt index, const MergeSplitThresholds *other, MergeSplitThresholds::MixFunction mixFunc) const
	Find and mix values of two instances.

agx::UInt	getNumValues () const

agx::Bool	isGlobal () const

virtual void	resetToDefault ()=0
	Restore all thresholds to default.

void	set (const agx::UInt index, agx::Real value)
	Assign value given index and value.

virtual agx::ICloneableRef	clone (agx::ICloneable *child=nullptr)=0
	Creates a clone of this object.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
virtual	~GeometryContactMergeSplitThresholds ()
	Reference counted object - protected destructor.

Protected Member Functions inherited from agxSDK::MergeSplitThresholds
	MergeSplitThresholds (const agx::UInt numValues)
	Construct given number of thresholds.

virtual	~MergeSplitThresholds ()
	Reference counted object, protected destructor.

void	cloneValuesTo (MergeSplitThresholds &target) const
	Resizes and copies values to `target`.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Specific thresholds used to merge and split given geometry contacts.

Definition at line 28 of file GeometryContactMergeSplitThresholds.h.

Member Enumeration Documentation

◆ MergeThresholds

enum agxSDK::GeometryContactMergeSplitThresholds::MergeThresholds : agx::UInt

Indices to the threshold values when a body should be merged.

Enumerator
MAX_RELATIVE_NORMAL_SPEED	If the speed along a contact normal is less than this value, the object may be merged.
MAX_RELATIVE_TANGENT_SPEED	If the speed along a contact tangent is less than this value, the object may be merged.
MAX_ROLLING_SPEED	If the relative rolling speed is less than this the object may be merged.
NUM_MERGE_THRESHOLDS

Definition at line 34 of file GeometryContactMergeSplitThresholds.h.

◆ SplitThresholds

enum agxSDK::GeometryContactMergeSplitThresholds::SplitThresholds : agx::UInt

Indices to the threshold values when a body should be split.

Enumerator
MAX_IMPACT_SPEED	If the impact speed (approaching each other) is higher than this value, the objects may split.
LOGICAL_IMPACT	Split when the state of the geometry contact is agxCollide::GeometryContact::IMPACT_STATE.
MAY_SPLIT_IN_GRAVITY_FIELD	Check split given external forces for all objects merged (i.e., rb->getForce() the sum of rb->addForce(), including the gravity force). Performance warning, disabled by default.
TANGENTIAL_ADHESION	Adhesive force in the tangential directions preventing the object to split (if > 0). Default: 0.0
NORMAL_ADHESION	Adhesive force in the normal direction preventing the object to split (if > 0). Default: 0.0
NUM_THRESHOLDS

Definition at line 48 of file GeometryContactMergeSplitThresholds.h.

Constructor & Destructor Documentation

◆ GeometryContactMergeSplitThresholds()

agxSDK::GeometryContactMergeSplitThresholds::GeometryContactMergeSplitThresholds ( )

Default constructor, all thresholds will be set to default.

◆ ~GeometryContactMergeSplitThresholds()

virtual agxSDK::GeometryContactMergeSplitThresholds::~GeometryContactMergeSplitThresholds ( )

protectedvirtual

Reference counted object - protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agxSDK::GeometryContactMergeSplitThresholds::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agxSDK::GeometryContactMergeSplitThresholds )

◆ clone()

virtual agx::ICloneableRef agxSDK::GeometryContactMergeSplitThresholds::clone ( agx::ICloneable * child = nullptr )

overridevirtual

Creates and returns a clone of this object.

Implements agx::ICloneable.

◆ create()

static agxStream::Serializable * agxSDK::GeometryContactMergeSplitThresholds::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 190 of file GeometryContactMergeSplitThresholds.h.

◆ getMaxImpactSpeed()

agx::Real agxSDK::GeometryContactMergeSplitThresholds::getMaxImpactSpeed ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global value will be used and if both are explicit, the maximum value of the two is returned

Returns: the minimum impact speed (along the contact normal) for an object to split another object, i.e., the maximum impact speed a merged object can resist without being split

Definition at line 224 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and MAX_IMPACT_SPEED.

◆ getMaxRelativeNormalSpeed()

agx::Real agxSDK::GeometryContactMergeSplitThresholds::getMaxRelativeNormalSpeed ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global value will be used and if both are explicit, the maximum value of the two is returned

Returns: the maximum speed along a contact normal for a contact to be considered resting

Definition at line 209 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and MAX_RELATIVE_NORMAL_SPEED.

◆ getMaxRelativeTangentSpeed()

agx::Real agxSDK::GeometryContactMergeSplitThresholds::getMaxRelativeTangentSpeed ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global value will be used and if both are explicit, the maximum value of the two is returned

Returns: the maximum (sliding) speed along a contact tangent for a contact to be considered resting

Definition at line 214 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and MAX_RELATIVE_TANGENT_SPEED.

◆ getMaxRollingSpeed()

agx::Real agxSDK::GeometryContactMergeSplitThresholds::getMaxRollingSpeed ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global value will be used and if both are explicit, the maximum value of the two is returned

Returns: the maximum (rolling) speed for a contact to be considered resting

Definition at line 219 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and MAX_ROLLING_SPEED.

◆ getMaySplitInGravityField()

agx::Bool agxSDK::GeometryContactMergeSplitThresholds::getMaySplitInGravityField ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global flag will be used and if both are explicit, the maximum value (true) of the two is returned

Returns: true if split in gravity field is enabled - otherwise false

Definition at line 234 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and MAY_SPLIT_IN_GRAVITY_FIELD.

◆ getNormalAdhesion()

agx::Real agxSDK::GeometryContactMergeSplitThresholds::getNormalAdhesion ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global flag will be used and if both are explicit, the maximum value of the two is returned

Returns: the normal direction adhesive force

Definition at line 244 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and NORMAL_ADHESION.

◆ getSplitOnLogicalImpact()

agx::Bool agxSDK::GeometryContactMergeSplitThresholds::getSplitOnLogicalImpact ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global value will be used and if both are explicit, the maximum value (true) of the two is returned

Returns: flag if a merged object will split on agxCollide::GeometryContact::IMPACT_STATE (i.e., first time the two objects collides)

Definition at line 229 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and LOGICAL_IMPACT.

◆ getTangentialAdhesion()

agx::Real agxSDK::GeometryContactMergeSplitThresholds::getTangentialAdhesion ( const GeometryContactMergeSplitThresholds * other = nullptr ) const

Parameters

other - if given, the non-default/non-global flag will be used and if both are explicit, the maximum value of the two is returned

Returns: the tangential adhesive force

Definition at line 239 of file GeometryContactMergeSplitThresholds.h.

References agxSDK::MergeSplitThresholds::get(), and TANGENTIAL_ADHESION.

◆ resetToDefault()

virtual void agxSDK::GeometryContactMergeSplitThresholds::resetToDefault ( )

overridevirtual

Reset all values to default.

Implements agxSDK::MergeSplitThresholds.

◆ setMaxImpactSpeed()

void agxSDK::GeometryContactMergeSplitThresholds::setMaxImpactSpeed ( agx::Real value )

Assign maximum impact speed (along a contact normal) a merged object can resist without being split.

Default 0.01.

◆ setMaxRelativeNormalSpeed()

void agxSDK::GeometryContactMergeSplitThresholds::setMaxRelativeNormalSpeed ( agx::Real value )

Assign maximum speed along a contact normal for a contact to be considered resting.

Default: 0.01.

◆ setMaxRelativeTangentSpeed()

void agxSDK::GeometryContactMergeSplitThresholds::setMaxRelativeTangentSpeed ( agx::Real value )

Assign maximum (sliding) speed along a contact tangent for a contact to be considered resting.

Default 0.01.

◆ setMaxRollingSpeed()

void agxSDK::GeometryContactMergeSplitThresholds::setMaxRollingSpeed ( agx::Real value )

Assign maximum (rolling) speed for a contact to be considered resting.

Default 0.01.

◆ setMaySplitInGravityField()

void agxSDK::GeometryContactMergeSplitThresholds::setMaySplitInGravityField ( agx::Bool maySplitInGravityField )

Check split given external forces for all objects merged (i.e., rb->getForce() the sum of rb->addForce(), including the gravity force).

Performance warning, disabled by default.

Parameters

maySplitInGravityField - true to enable, false to disable

◆ setNormalAdhesion()

void agxSDK::GeometryContactMergeSplitThresholds::setNormalAdhesion ( agx::Real value )

Adhesive force in the normal directions preventing the object to split (if > 0) when the object is subject to external interactions (e.g., constraints).

Default: 0.0

Parameters

value - normal direction adhesive force

◆ setSplitOnLogicalImpact()

void agxSDK::GeometryContactMergeSplitThresholds::setSplitOnLogicalImpact ( agx::Bool value )

True to split when geometry contact state is agxCollide::GeometryContact::IMPACT_STATE, i.e., the first time the objects collide.

Default is false and "max impact speed" will be used instead.

◆ setTangentialAdhesion()

void agxSDK::GeometryContactMergeSplitThresholds::setTangentialAdhesion ( agx::Real value )

Adhesive force in the tangential directions preventing the object to split (if > 0) when the object is subject to external interactions (e.g., constraints).

Default: 0.0

Parameters

value - tangential adhesive force

The documentation for this class was generated from the following file:

GeometryContactMergeSplitThresholds.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MergeThresholds

◆ SplitThresholds

Constructor & Destructor Documentation

◆ GeometryContactMergeSplitThresholds()

◆ ~GeometryContactMergeSplitThresholds()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ clone()

◆ create()

◆ getMaxImpactSpeed()

◆ getMaxRelativeNormalSpeed()

◆ getMaxRelativeTangentSpeed()

◆ getMaxRollingSpeed()

◆ getMaySplitInGravityField()

◆ getNormalAdhesion()

◆ getSplitOnLogicalImpact()

◆ getTangentialAdhesion()

◆ resetToDefault()

◆ setMaxImpactSpeed()

◆ setMaxRelativeNormalSpeed()

◆ setMaxRelativeTangentSpeed()

◆ setMaxRollingSpeed()

◆ setMaySplitInGravityField()

◆ setNormalAdhesion()

◆ setSplitOnLogicalImpact()

◆ setTangentialAdhesion()